Standing pose adjusting method and system for foot type inspection robot

Abstract

The invention provides a standing pose adjusting method and system for a foot type inspection robot. The standing pose adjusting method comprises the steps that pose information and geometric information of the foot type inspection robot after standing stably are obtained; obtaining an initial coordinate of the foot end in a shoulder joint coordinate system according to the obtained attitude information and geometric information; new coordinates of the foot ends in a shoulder joint coordinate system are obtained by combining the initial coordinates, the body posture adjustment amount and the distance between the left foot and the right foot, and posture adjustment is conducted according to the new coordinates; the position precision and the angle precision of final standing are improved through in-situ trunk translation and in-situ trunk torsion after standing is stable.

Description

technical field [0001] The present disclosure relates to the technical field of footed robots, and in particular, to a method and system for adjusting the standing posture of a footed inspection robot. Background technique [0002] The statements in this section merely provide background related to the present disclosure and do not necessarily constitute prior art. [0003] When walking, the footed robot will generate fluctuations in the height of the center of mass and the posture of the torso, resulting in low sensor positioning accuracy. However, equipment inspection requires high positioning accuracy. When the target is far away, a small angular deviation will lead to a small difference. [0004] The inventor found that the inspection step of the footed robot is to traverse the preset inspection points one by one. If it decelerates and stops immediately after reaching the target point, there is often a large error. Torso jitter resulted in imprecise stop positions. S...

AI Technical Summary

Problems solved by technology

[0003] The height of the center of mass of the legged robot will fluctuate and the posture of the trunk will shake when walking, resulting in low positioning accuracy of the sensor

The equipment inspection requires high positioning accuracy. When the target is far away, a small angle deviation will lead to a difference of a thousand miles.

[0004] The inventor found that the inspection steps of the legged robot are to traverse the preset inspection points one by one. If it decelerates and stops immediately after reaching the target point, there is often a large error. Inaccurate stopping position due to torso shake

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